Have this SPI running with the encoder in-line and PWM still setup.
I integrated UART / Ringbuffers etc from the mkstepper project. So I have everything I need to start commutating.
OK!
## Commutating
Properly, I should do this on a timer. I'm going to do it in the while() loop for now, just to check that I'm having the output on the PWMs that I want.